US7638967B2 - Motor control unit - Google Patents

Motor control unit Download PDF

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Publication number
US7638967B2
US7638967B2 US11/819,640 US81964007A US7638967B2 US 7638967 B2 US7638967 B2 US 7638967B2 US 81964007 A US81964007 A US 81964007A US 7638967 B2 US7638967 B2 US 7638967B2
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Prior art keywords
motor
voltage
control unit
command
coil
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US11/819,640
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US20080042613A1 (en
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Toshimitsu Aizawa
Tsuyoshi Hosoito
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Toshiba Corp
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Toshiba Corp
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Assigned to KABUSHIKI KAISHA TOSHIBA reassignment KABUSHIKI KAISHA TOSHIBA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: AIZAWA, TOSHIMITSU, HOSOITO, TSUYOSHI
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/34—Arrangements for starting

Definitions

  • the present disclosure is directed to a motor control unit that executes the so called sensor-less control of a motor provided with a permanent magnet in its rotor.
  • the sensor-less drive method executes field-oriented control of a permanent magnet motor having a permanent magnet in its rotor with an inverter unit without providing a sensor such as hall IC for rotor positioning detection purposes.
  • An object of the present disclosure is to provide a motor control unit that allows prompt detection of rotational abnormalities during a sensor-less drive including a start-up operation involving forcible commutation.
  • a motor control unit includes a power converter unit that energize a motor based on a commutating signal, the motor having a rotor provided with a permanent magnet and a stator having a coil wound thereto; a start-up controller that outputs a commutating signal to the power converter unit during a start-up operation, the commutating signal having a predetermined conductive pattern corresponding to a command rotational speed; a voltage calculator that calculates a voltage of the motor during the start-up operation by applying a parameter for the motor, the command rotational speed, and a current flown in the coil of the motor to a voltage-current equation of the motor; and a determiner that, during the start-up operation, compares a voltage calculated by the voltage calculator and an actual voltage of the motor and that determines occurrence of rotational abnormalities when the actual voltage is lower than the calculated voltage.
  • a motor control unit includes a power converter unit that energize a motor based on a commutating signal, the motor having a rotor provided with a permanent magnet and a stator having a coil wound thereto; an estimator that estimates a rotational speed and a rotational position of the rotor; a drive controller that outputs a commutating signal to the power converter unit during a position estimating operation based on a rotational position estimated by the estimator; a voltage calculator that calculates a voltage of the motor during the position estimating operation by applying a parameter for the motor, a rotational speed estimated by the estimator, and a current flown in the coil of the motor to a voltage-current equation of the motor; and a determiner that, during the position estimating operation, compares a voltage calculated by the voltage calculator and an actual voltage of the motor and that determines occurrence of rotational abnormalities when the actual voltage is lower than the calculated voltage.
  • FIG. 1 is a block diagram of an electrical configuration of an inverter unit when executing a position estimating operation and indicates a first embodiment of the present disclosure
  • FIG. 2 is a block diagram illustrating a rotational abnormality detector during a start-up operation
  • FIG. 3A is a waveform chart illustrating actual measured waveforms in normal acceleration when executing the start-up operation.
  • FIG. 3B is a waveform chart illustrating actual measured waveforms unaccelerated due to step-out.
  • FIG. 1 is a functional block diagram illustrating the configuration of a motor control unit executing a position estimation operation.
  • a motor 2 (rotary machine) controlled by the motor control unit 1 is a three-phase permanent magnet synchronous motor (PM motor) having a rotor 2 r provided with a permanent magnet 2 m , and a stator 2 s having armature coils 2 a , 2 b , and 2 c wound thereto.
  • No sensor is provided that directly detects the position of the rotor 2 r .
  • the motor control unit 1 controls the drive of the motor 2 by the so called sensor-less field-oriented control.
  • the motor control unit 1 includes a controller 3 , an inverter 4 , and current detectors 5 a , 5 b , and 5 c .
  • the inverter 4 constituting a power converter unit is a well-known voltage type inverter having switching elements such as IGBT 4 ap , 4 an . . . to a 3-phase bridge configuration.
  • the current detectors 5 a , 5 b , and 5 c constituted by hall CT, shunt resistor, and the like, are provided between an output terminal of the inverter 4 and the terminal of the motor 2 .
  • the controller 3 is configured by a processor provided with basic components such as CPU core and memory; and peripheral circuits such as an A/D converter, a timer, an input/output port, and communication interface.
  • the controller 3 controls the motor 2 by executing a control program stored in a nonvolatile memory such as flash memory.
  • the controller 3 defines the magnetic flux axis as a d-axis and the torque axis perpendicular thereto as a q-axis, and executes field-oriented control by controlling voltage and current by the dq coordinate system.
  • the controller 3 implements functionalities of a current controller 6 , a rotational speed/rotational angle estimator 7 , and rotational abnormality detector 8 .
  • the rotational speed/rotational angle estimator 7 estimates a rotational speed ⁇ and magnetic pole position (rotational phase angle ⁇ ) of the rotor 2 r .
  • the current controller 6 when executing a position estimating operation, operates as a drive controller that operates as a drive controller that controls the phase and amount of current to be flown in the coils 2 a , 2 b , and 2 c based on the estimated rotational position.
  • the rotational abnormality detector 8 detects locking of the rotor 2 r or abnormal reduction in rotational speed.
  • a three-phase to two-phase transformer 9 of the current controller 6 transforms three-phase currents Ia, Ib, and Ic detected by current detectors 5 a , 5 b , and 5 c into a two-phase current I ⁇ and I ⁇ equivalent thereto.
  • a rotational current converter 10 converts currents I ⁇ and I ⁇ of the ⁇ coordinate system into currents Id and Iq of the dq coordinate system.
  • a rotor angle ⁇ est estimated by the later described rotational speed/rotational angle estimator 7 is used in the calculation of rotational coordinate transformation.
  • a command rotational speed ⁇ r is inputted to the controller 3 .
  • a subtractor 11 subtracts a rotational speed ⁇ est estimated by the rotational speed/rotational angle estimator 7 from the command rotational speed ⁇ r to obtain a speed error ⁇ .
  • a PI calculator 12 generates a command q-axis current Iqr by executing PI calculation on speed error ⁇ .
  • the command d-axis current Idr takes a constant value.
  • the subtractor 13 subtracts the detected d-axis current Id from the command d-axis current Idr to obtain the d-axis current error ⁇ Id.
  • the PI calculator 14 executes PI calculation on the d-axis current error ⁇ Id to generate a command d-axis voltage Vd.
  • the subtractor 15 subtracts the detected q-axis current Iq from the command q-axis current Iqr to obtain the q-axis current error ⁇ Iq.
  • the PI calculator 16 generates command q-axis voltage Vq by executing PI calculation on the q-axis current error ⁇ Iq.
  • a rotational coordinate transformer 17 executes rotational coordinate transformation of the command d-axis voltage Vd and the command q-axis voltage Vq by using the rotor angle ⁇ est to output voltage V ⁇ and voltage V ⁇ of the ⁇ coordinate system.
  • a PWM generator 18 generates commutation signal modulated by PWM modulation based on the voltages V ⁇ and V ⁇ .
  • IGBT 4 ap , 4 an . . . constituting the inverter 4 execute switching operation according to the commutation signal applied through the drive circuit not shown.
  • voltages corresponding to the voltages V ⁇ and V ⁇ are applied on the coils 2 a , 2 b , and 2 c of the motor 2 to rotationally drive the motor 2 .
  • the rotational speed/rotational angle estimator 7 obtains rotational speed ⁇ est and the rotor angle ⁇ est by using a motor model in the dq coordinate system.
  • R indicates coil resistance for one phase of the motor 2 ;
  • Ld and Lq indicate d-axis and q-axis inductance for one phase of the motor 2 ;
  • ⁇ est indicates an estimate of rotational speed of the rotor 2 r ; and
  • p is a differential operator.
  • currents Id and Iq employ the detected current values and d-axis voltage Vd employs command value instead of the detected value because of the high-responsiveness of the inverter 4 .
  • the PI calculator 20 executes PI calculation on the d-axis component estimate Ed of induced voltage obtained from equation (1) to output a rotational speed error ⁇ err.
  • ⁇ err Kp ⁇ Ed ( n )+ Ed — I ( n )
  • Ed — I ( n ) Ed — I ( n ⁇ 1)+ Ki ⁇ Ed ( n ) (2B)
  • the subtractor 21 obtains rotational speed ⁇ est by subtracting the rotational speed error ⁇ err from the command rotational speed ⁇ r.
  • ⁇ est ⁇ r ⁇ err (2C)
  • the d-axis component estimate Ed of the induced voltage converges to zero.
  • An integrator 22 integrates the rotational speed ⁇ est as indicated in equation (2D) to output rotor angle ⁇ est.
  • ⁇ est ⁇ est+Kt ⁇ est (2D)
  • FIG. 2 indicates a configuration of the rotational abnormality detector 8 when executing the start-up operation.
  • the rotational abnormality detector 8 is constituted by a voltage calculating portion 23 (voltage calculator), and a determining portion 24 (determiner).
  • the voltage calculating portion 23 calculates theoretical voltage Vf of the motor 2 by applying parameters of the motor 2 , the command rotational speed or and the currents Id and Iq to the voltage-current equation, whereas during the position estimating operation, the voltage calculating portion 23 calculates the voltage Vf by using the estimated rotational speed ⁇ est instead of the command rotational speed ⁇ r.
  • the determiner 24 compares the theoretical voltage Vf, obtained with an assumption that the motor 2 is rotating normally, and the actual voltage of the motor 2 (replaced by command voltage V in the present embodiment), and determines occurrence of rotational error when the command voltage V is lower than the theoretical voltage Vf and sets a determining signal Sa at an H level.
  • Vd indicates d-axis voltage
  • Vq indicates q-axis voltage
  • R indicates a coil resistance for one phase of the motor 2
  • Ld and Lq indicate d-axis and q-axis inductance for one phase of the motor 2
  • Id indicates d-axis current
  • Iq indicates a q-axis current
  • Ke indicates induced voltage constant
  • ⁇ indicates rotational speed.
  • the command voltage V replacing the actual voltage (voltage corresponding to inter-line voltage) of the motor 2 is as indicated in the following equation (4).
  • v ⁇ square root over (3) ⁇ square root over ( Vd 2 +Vq 2 ) ⁇ (4)
  • the current controller 6 executes start-up operation on the motor 2 in stopped state, and the motor 2 is accelerated up to a rotational speed that allows the rotational speed/rotational angle estimator 7 to properly estimate the rotational speed ⁇ est and the rotor angle ⁇ est.
  • forcible commutation that increases the rotor angle ⁇ according to the command rotational speed ⁇ r is executed with the command d-axis current set at Idrst (constant value) and the command q-axis current Iqr at zero.
  • Idrst constant value
  • the rotational abnormality detector 8 assigns command d-axis current Idrst in d-axis current Id, zero in q-axis current Iq, and command rotational speed ⁇ r in rotational speed ⁇ of the voltage-current equation of (3) to calculate the theoretical d-axis voltage Vd and q-axis voltage Vq of the motor 2 . Then, theoretical voltage Vf (corresponding to inter-line voltage) of the motor 2 based on the voltage-current equation is calculated as indicated in the following equation (5).
  • equation (3) the derivative term of the d-axis current Id and the derivative term of the q-axis current Iq are set at zero.
  • Vf ⁇ square root over (3) ⁇ square root over (( Idrst ⁇ R ) 2 +( ⁇ r ⁇ Ld ⁇ Idrst+Ke ⁇ r ) 2 ) ⁇ square root over (( Idrst ⁇ R ) 2 +( ⁇ r ⁇ Ld ⁇ Idrst+Ke ⁇ r ) 2 ) ⁇ (5)
  • FIGS. 3A and 3B indicate the measured waveforms during the start-up operation.
  • FIG. 3A indicates a waveform in normal acceleration
  • FIG. 3B indicates a waveform in case no acceleration takes place due to step out.
  • Each figure represents the command voltage V of the motor 2 , the theoretical voltage Vf, the determining signal Sa outputted by the determiner, and a switch signal Sb delivered from the start-up operation to the position estimating operation.
  • the determining signal Sa is at level L when in normal rotation, and at level H when in abnormal rotation.
  • the switch signal Sb is at level L when in the start-up operation and at level H when in the position estimating operation.
  • the start-up operation is continued even when the determining signal Sa is at level H in FIG. 3B ; however, in practice, in case the determining signal Sa is at level H continuously for a predetermined time or more, the operation is stopped due to rotational abnormality.
  • the determiner 24 compares the command voltage V (corresponding to actual voltage) of the motor 2 indicated in equation (4) and the theoretical voltage Vf indicated in equation (5).
  • Vf the theoretical voltage indicated in equation (5).
  • the command voltage V is increased in accordance with the increase in command rotational speed ⁇ r as was the case in theoretical voltage Vf, and the command voltage V becomes constantly higher than the theoretical voltage Vf during the start-up operation.
  • the determining signal Sa is constantly at level L.
  • the determiner 24 promptly detects occurrence of rotational abnormalities by comparing the command voltage V (corresponds to actual voltage) of the motor 2 with the theoretical voltage Vf during the start-up operation.
  • Rotational abnormalities can likewise be detected during the position estimating operation. That is, when the load is constant, the voltage-current equation indicated in (3) stands approximately.
  • the command d-axis current Idr is assigned to the d-axis current Id
  • the command q-axis current Iqr to the q-axis current Iq
  • the rotational speed ⁇ est estimated by the rotational speed/rotational angle estimator 7 is assigned to the rotational speed ⁇ to calculate the theoretical d-axis voltage Vd and the q-axis voltage Vq of the motor 2 .
  • the theoretical voltage Vf (voltage corresponding to inter-line voltage) of the motor 2 based on the voltage-current equation is calculated as indicated in the equation (6).
  • the determiner 24 determines the occurrence of rotational abnormality and arranges the determining signal Sa at H level when the command voltage V becomes lower than the theoretical voltage Vf during the position estimating operation.
  • Vf 3 ⁇ ( R ⁇ Idr - ⁇ ⁇ ⁇ est ⁇ Lq ⁇ Iqr ) 2 + ( ⁇ ⁇ ⁇ est ⁇ Ld ⁇ Idr + R ⁇ Iqr + Ke ⁇ ⁇ ⁇ ⁇ est ) 2 ( 6 )
  • the voltage-current equation indicated in equation (7) which is indicated in FIG. 5 may be used instead of the voltage-current equation indicated in equation (3).
  • a positioning operation may be executed that conducts direct current to a coil of a predetermined phase prior to the start-up operation.
  • the d-axis voltage Vd and the d-axis current Id during the positioning operation may be measured so as to provide basis for obtaining coil resistance R, which obtained resistance may be used as a motor parameter. This allows reduction of calculation errors of voltage Vf caused by variation in coil temperature. It has been verified that by the above simulation also, that reduction in coil resistance R error allows reliable detection of rotational abnormalities by step-out.
  • the motor control unit 1 of the present embodiment is provided with a rotational abnormality detector 8 that determines occurrence of rotational abnormalities in case the actual voltage of the motor 2 is lower than the theoretical voltage Vf by calculating the theoretical voltage Vf when the motor 2 is in normal rotation by applying the motor parameter, the command rotational speed ⁇ r, and the currents Id and Iq of the motor 2 to the voltage-current equation of the motor 2 .
  • the rotational abnormality detector 8 allows detection of rotational abnormalities of the motor 2 even during the position estimating operation by using the rotational speed ⁇ est estimated by the rotational speed/rotational angle estimator 7 instead of the command rotational speed ⁇ r.
  • locking caused by sudden change in load and reduction in rotation count caused by step-out can be detected promptly during sensor-less drive involving the start-up operation.
  • defect in the start-up operation can be detected at an early stage, consumption of unnecessary electricity can be restrained during the start-up operation, as well as preventing occurrence of noise. Also, since rotational abnormalities can be detected almost constantly even if errors of some magnitude exist in the motor parameters, the user need not make adjustments for detecting defects in the start-up operation after setting the motor parameters.
  • the voltage applied to the motor 2 has outstanding following capability to command voltage.
  • the command voltage V may be employed for comparison with the theoretical voltage Vf instead of the actual voltage, which in turn unnecessitates the voltage detector.
  • the rotation abnormality detector 8 calculates the theoretical voltage Vf, by employing command currents Idr, Idrst, and Iqr as currents to be flown in the coils 2 a , 2 b , and 2 c of the motor 2 .
  • the system is stabilized by being less susceptible to vibration.
  • Idrst constant value
  • Iq-axis current Iqr derivative term pertaining to current in the voltage-current equation of the motor 2 can be omitted. As a result, the load on the processor can be reduced.
  • a detected current Id may be employed as the d-axis current instead of the command current Idr, and the command current Idrst; and a detected current Iq may be employed as q-axis current instead of the command current Iqr.
  • the method of estimating the rotational speed ⁇ est and the rotor angle ⁇ est is not limited to the method in which the d-axis component estimate Ed of the induced voltage is converged to zero by the rotational speed/rotational angle estimator 7 .
  • a voltage detector may be provided so that the rotational abnormality detector 8 determines occurrence of rotational abnormalities by comparing the theoretical voltage Vf and the actual voltage detected by the voltage detector.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Electric Motors In General (AREA)
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JP2006178323A JP4928850B2 (ja) 2006-06-28 2006-06-28 回転機制御装置

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US20110031914A1 (en) * 2009-08-10 2011-02-10 Emerson Climate Technologies, Inc. Controller and method for transitioning between control angles
US20110031942A1 (en) * 2009-08-10 2011-02-10 Emerson Climate Technologies, Inc. System and method for reducing line current distortion
US20110031943A1 (en) * 2009-08-10 2011-02-10 Emerson Climate Technologies, Inc. System and method for rejecting dc current in power factor correction systems
US8358098B2 (en) 2009-08-10 2013-01-22 Emerson Climate Technologies, Inc. System and method for power factor correction
US8476873B2 (en) 2009-08-10 2013-07-02 Emerson Climate Technologies, Inc. System and method for current balancing
US8493014B2 (en) 2009-08-10 2013-07-23 Emerson Climate Technologies, Inc. Controller and method for estimating, managing, and diagnosing motor parameters
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US8698433B2 (en) 2009-08-10 2014-04-15 Emerson Climate Technologies, Inc. Controller and method for minimizing phase advance current
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US9240749B2 (en) 2012-08-10 2016-01-19 Emerson Climate Technologies, Inc. Motor drive control using pulse-width modulation pulse skipping
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KR100919268B1 (ko) 2009-09-30
KR20080002630A (ko) 2008-01-04

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